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https://github.com/wpilibsuite/allwpilib
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22c4da152e
The angular rate is treated somewhat like an angle during calibration, but the datasheet says it's angular rate. The variables were renamed to make this clearer.
107 lines
2.3 KiB
C++
107 lines
2.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <hal/SimDevice.h>
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#include <units/acceleration.h>
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#include <units/angle.h>
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#include <units/angular_velocity.h>
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namespace frc {
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class ADIS16448_IMU;
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namespace sim {
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/**
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* Class to control a simulated ADIS16448 IMU.
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*/
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class ADIS16448_IMUSim {
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public:
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/**
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* Constructs from a ADIS16448_IMU object.
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*
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* @param imu ADIS16448_IMU to simulate
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*/
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explicit ADIS16448_IMUSim(const ADIS16448_IMU& imu);
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/**
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* Sets the X axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleX(units::degree_t angle);
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/**
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* Sets the Y axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleY(units::degree_t angle);
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/**
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* Sets the Z axis angle (CCW positive).
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*
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* @param angle The angle.
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*/
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void SetGyroAngleZ(units::degree_t angle);
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/**
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* Sets the X axis angular rate (CCW positive).
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*
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* @param angularRate The angular rate.
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*/
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void SetGyroRateX(units::degrees_per_second_t angularRate);
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/**
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* Sets the Y axis angular rate (CCW positive).
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*
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* @param angularRate The angular rate.
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*/
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void SetGyroRateY(units::degrees_per_second_t angularRate);
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/**
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* Sets the Z axis angular rate (CCW positive).
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*
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* @param angularRate The angular rate.
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*/
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void SetGyroRateZ(units::degrees_per_second_t angularRate);
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/**
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* Sets the X axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelX(units::meters_per_second_squared_t accel);
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/**
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* Sets the Y axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelY(units::meters_per_second_squared_t accel);
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/**
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* Sets the Z axis acceleration.
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*
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* @param accel The acceleration.
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*/
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void SetAccelZ(units::meters_per_second_squared_t accel);
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private:
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hal::SimDouble m_simGyroAngleX;
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hal::SimDouble m_simGyroAngleY;
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hal::SimDouble m_simGyroAngleZ;
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hal::SimDouble m_simGyroRateX;
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hal::SimDouble m_simGyroRateY;
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hal::SimDouble m_simGyroRateZ;
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hal::SimDouble m_simAccelX;
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hal::SimDouble m_simAccelY;
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hal::SimDouble m_simAccelZ;
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};
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} // namespace sim
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} // namespace frc
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